MagicTac: A Novel High-Resolution 3D Multi-layer Grid-Based Tactile Sensor
CoRR(2024)
Abstract
Accurate robotic control over interactions with the environment is
fundamentally grounded in understanding tactile contacts. In this paper, we
introduce MagicTac, a novel high-resolution grid-based tactile sensor. This
sensor employs a 3D multi-layer grid-based design, inspired by the Magic Cube
structure. This structure can help increase the spatial resolution of MagicTac
to perceive external interaction contacts. Moreover, the sensor is produced
using the multi-material additive manufacturing technique, which simplifies the
manufacturing process while ensuring repeatability of production. Compared to
traditional vision-based tactile sensors, it offers the advantages of i) high
spatial resolution, ii) significant affordability, and iii)
fabrication-friendly construction that requires minimal assembly skills. We
evaluated the proposed MagicTac in the tactile reconstruction task using the
deformation field and optical flow. Results indicated that MagicTac could
capture fine textures and is sensitive to dynamic contact information. Through
the grid-based multi-material additive manufacturing technique, the
affordability and productivity of MagicTac can be enhanced with a minimum
manufacturing cost of 4.76 GBP and a minimum manufacturing time of 24.6
minutes.
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